Related papers: Resilient Interval Observer-Based Control for Coop…
The robust distributed state estimation for a class of continuous-time linear time-invariant systems is achieved by a novel kernel-based distributed observer, which, for the first time, ensures fixed-time convergence properties. The…
The paper deals with the problem of distributed fault detection and isolation (FDI) for a group of heterogeneous multi-agent systems. The developed formation for the FDI is taken into account as a distributed observer design methodology,…
Motivated by the need of observers that are both robust to disturbances and guarantee fast convergence to zero of the estimation error, we propose an observer for linear time-invariant systems with noisy output that consists of the…
This paper proposes a novel framework for the distributionally robust input and state estimation (DRISE) for autonomous vehicles operating under model uncertainties and measurement outliers. The proposed framework improves the input and…
Power systems are moving towards hybrid AC/DC grids with the integration of HVDC links, renewable resources and energy storage modules. New models of frequency control have to consider the complex interactions between these components.…
Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose…
This paper presents a hybrid control framework with a risk-budgeted monitor for safety-certified autonomous driving. A sliding-window monitor tracks insufficient barrier residuals and triggers switching from a relaxed control barrier…
This article presents a novel perspective along with a scalable methodology to design a fault detection and isolation (FDI) filter for high dimensional nonlinear systems. Previous approaches on FDI problems are either confined to linear…
With the development of autonomous vehicle technology, the controller area network (CAN) bus has become the de facto standard for an in-vehicle communication system because of its simplicity and efficiency. However, without any encryption…
The safety of urban transportation systems is considered a public health issue worldwide, and many researchers have contributed to improving it. Connected automated vehicles (CAVs) and cooperative intelligent transportation systems (C-ITSs)…
The rapid advancement of machine learning (ML) and on-device computing has revolutionized various industries, including transportation, through the development of Connected and Autonomous Vehicles (CAVs) and Intelligent Transportation…
We address the problem of robust state reconstruction for discrete-time nonlinear systems when the actuators and sensors are injected with (potentially unbounded) attack signals. Exploiting redundancy in sensors and actuators and using a…
Autonomous vehicles increasingly rely on deep learning-based perception and control, which impose substantial computational demands. Cloud-assisted architectures offload these functions to remote servers, enabling enhanced perception and…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
The connectivity aspect of connected autonomous vehicles (CAV) is beneficial because it facilitates dissemination of traffic-related information to vehicles through Vehicle-to-External (V2X) communication. Onboard sensing equipment…
In this chapter, we introduce two interval observer designs for discrete-time (DT) and continuous-time (CT) nonlinear systems with bounded Jacobians that are affected by bounded uncertainties. Our proposed methods utilize the concepts of…
In this paper we propose a novel observer-based method to improve the safety and security of connected and automated vehicle (CAV) transportation. The proposed method combines model-based signal filtering and anomaly detection methods.…
Perception systems provide a rich understanding of the environment for autonomous systems, shaping decisions in all downstream modules. Hence, accurate detection and isolation of faults in perception systems is important. Faults in…
This study presents a methodology to quantify vulnerability of cyber attacks and their impacts based on probabilistic graphical models for intelligent transportation systems under connected and autonomous vehicles framework. Cyber attack…
This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…